Apparatus for transporting a rotor

ABSTRACT

Provided is an apparatus capable of transporting a rotor from a first location to a second location, including: a holding device for engaging with a portion of the rotor at the first location so as to hold the rotor relative to the apparatus; a position determination device for determining the position of at least one component part of the rotor relative to another component part of the rotor or another body; a positioning device for positioning or repositioning said at least one component part of the rotor relative to another component part of the rotor or another body; and a movement device for moving the rotor from the first location to the second location. Also described is a method of loading a rotor into a balancing machine.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of PCT Patent ApplicationPCT/GB2014/052055, filed 7 Jul. 2014 with the United Kingdom ReceivingOffice, which is a PCT filing of, and claims the benefit of, PatentApplication 1314459.7, filed 13 Aug. 2013 in the United Kingdom. Eachlisted parent application is hereby incorporated by reference in itsentirety.

BACKGROUND

1. Field

This invention relates to an apparatus for transporting a rotor such as,for example a propshaft. In particular, but not exclusively, theinvention relates to an apparatus for transporting a rotor from a firstlocation and loading the rotor into a balancing machine at a secondlocation so that a balancing operation can be undertaken on the rotor.The invention also relates to a method of loading a rotor into such abalancing machine.

2. Description of the Related Art

Propshafts, and more generally rotors, can be formed of a single rotorportion or multiple rotor portions linked together in end-to-endalignment. Rotors formed of multiple rotor portions may comprise two orthree such portions, and less commonly may comprise four portions. Therotor portions are often connected to each other in an articulatedfashion, and often adjacent rotor portions can “plunge” relative to each(e.g. they can move axially relative to each other) and the articulatejoints can sometimes plunge.

Balancing is typically carried out on rotors to overcome or lessen theproblem of ‘unbalance’—the uneven distribution of mass around the axisof rotation of the rotor. Unbalance is when the inertia axis of therotor is offset from its central axis of rotation, which results fromthe mass of the rotor not being distributed uniformly about its centralaxis. Rotors suffering unbalance may generate a moment when rotatingwhich leads to vibration.

It is known to balance a single piece rotor using two balance planes.Each balance plane is a plane disposed substantially perpendicular tothe axis of the rotor. When balancing a multiple piece rotor, balancingis carried out in additional balance planes: a two piece rotor may bebalanced in three planes, a three piece rotor may be balanced in fourplanes, and a four piece rotor may be balanced in five planes.

Correction for unbalance is typically carried out by welding balanceweights to the rotor. Rotors are designed with zones where balanceweights can be added corresponding to the number of balancing planes,which are usually near the end of each rotor portion.

The mechanism for correcting unbalance is typically automated, by whichbalance weights are attached (e.g. welded) to the rotor at a setposition along the axis of the rotor for each plane, within specifiedbalance zones. Once weights for all planes (where required) are appliedto the rotor, the rotor unbalance is measured again using the samemethod. If the unbalance measured in any plane remains outside of apredefined tolerance threshold, a second step of correction is carriedout within the corresponding balance zone.

To perform the balancing process a rotor is loaded into a balancingmachine that includes an apparatus for driving the rotor. Each end ofthe rotor is located in a respective mounting apparatus that includes achuck to secure that end of the rotor. The mounting apparatuses aredriven by a drive mechanism so as to transfer torque to the rotor. Theends of the rotor typically include means for connecting the rotor toother components (in its end use), and those endmost connections areoften articulated to the remaining component parts of the rotor. Theendmost articulated connections often include an array of apertures(e.g. evenly spaced angularly around an axis of the rotor) through whichfasteners pass when the rotor is installed in its end use. Due to themanufacturing process of such rotors, it is often the case that theapertures in the endmost articulated connection at one end of the rotorare not aligned with the apertures in the endmost connection at theopposite end of the rotor.

Currently the loading of the rotor into the balancing machine is amanual process. This means that when the rotor is loaded into abalancing machine it is necessary to align the apertures in the endmostconnections with the respective mounting apparatus (which usuallyinclude one or more projections which are received in the apertures soas to provide a rotationally fast connection therebetween). This manualloading represents a significant time delay between balancing multiplerotors, which has significant cost implications for large-scalebalancing, e.g. for the automotive industry.

SUMMARY

The present invention has been devised to address this long felt want tobe able to fully automate the balancing process for a rotor without anoperator having to load a rotor into the balance machine.

According to a first aspect of the invention, we provide an apparatusfor transporting a rotor from a first location to a second location,including:

-   -   a holding device for engaging with a portion of the rotor at the        first location so as to hold the rotor relative to the        apparatus;    -   a position determination device for determining the position of        at least one component part of the rotor relative to another        component part of the rotor or another body;    -   a positioning device for positioning or repositioning said at        least one component part of the rotor relative to another        component part of the rotor or another body; and    -   a movement device for moving the rotor from the first location        to the second location.

According to a second aspect of the invention, we provide a method ofloading a rotor into a balancing machine, the balancing machineincluding:

-   -   first and second mounting apparatus each for engaging with and        holding respective ends of the rotor; and means for driving one        or both the first and second mounting apparatus,        wherein the method includes the steps of:    -   collecting a rotor from a first location using a transporting        apparatus, the transporting apparatus including a holding device        for engaging with a portion of the rotor so as to hold the rotor        relative to the transporting apparatus;    -   determining the position of at least one component part of the        rotor relative to another component part of the rotor or another        body;    -   loading the rotor into the balancing machine; and    -   engaging the first and second mounting apparatus of the        balancing machine with respective end of the rotor,    -   wherein, prior to or at the same time as the step of loading the        rotor into the balancing machine, the method includes one or        both of the steps of:        -   positioning or repositioning said at least one component            part of the rotor relative to the another component part of            the rotor or the another body; and/or        -   positioning or repositioning one of the first and second            mounting apparatus of the balancing machine at a desired            position which corresponds to the position of the at least            one component part of the rotor.

Further features of the first and second aspects of the invention as setout in dependent claims 2 to 33 appended hereto.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the first and second aspects of the invention will bedescribed by way of example only with reference to the accompanyingdrawings, of which:

FIG. 1 is a side view of an apparatus in accordance with the presentinvention holding a rotor which is to be loaded into a balancingmachine;

FIG. 2 is a side view of the apparatus of FIG. 1 with the rotorpartially loaded into the balancing machine;

FIG. 3 is a side view of the apparatus of FIG. 1 with the rotor fullyloaded into the balancing machine;

FIG. 4 is a side view of the apparatus of FIG. 1 with the rotor fullyloaded into the balancing machine and the apparatus being moved back toa first location;

FIG. 5 is a perspective view of the apparatus of FIG. 1 in a re-loadingcondition;

FIG. 6 is a side view corresponding to FIG. 5;

FIG. 7 is a perspective view of the apparatus of FIG. 1 in a loadedcondition;

FIG. 8 is a side view corresponding to FIG. 7; and

FIG. 9 is a set of schematic views to illustrate the operation of theapparatus of the present invention and the method of the presentinvention.

DETAILED DESCRIPTION OF REPRESENTATIVE EMBODIMENTS

Referring firstly to FIGS. 1 to 4, these show side views of an apparatus10 holding a rotor 80 which is to be loaded into a balancing machine100. The apparatus 10 in this embodiment is configured for holding athree piece rotor 80 (which can be seen in more details in FIGS. 5 to 8,and will be described in more detail later).

The apparatus 10 includes a movement device in the form of a robotic armhaving a fixed structure 12 which is fixed to, for example, a groundsurface. Connected to the part 12 are two articulated arms 14, 16 whichcan pivot about axes 13, 15. Pivotally connected to a remote end of thearm 16 is a main body 20 to which is connected the working componentswhich grasp and hold the rotor 80. As an alternative an automated “pickand place” device with one or more axes could be used separate orintegral/attached to a balance machine.

These figures also show a balancing machine 100, which is well known inthe art. The balancing machine 100 includes first 110 and second 120mounting apparatus or chucks to engage with and hold the remote ends ofthe rotor 80. The machine 100 also has a pair of intermediate supports130, 140 for supporting the central rotor part of the rotor 80. Thechucks 110, 120 and intermediate supports 130, 140 are axially moveabletowards and away from each other.

Referring particularly to FIG. 5, the rotor 80 in this example is athree piece rotor having three rotor portions 81, 82, 83. There is anarticulating and plunging connection between rotor portion 81 and thecentral rotor portion 82 and 85 is a supporting bearing thatarticulates. There is also an articulating and plunging connectionbetween rotor portion 83 and the central rotor portion 82 and 86 is asupporting bearing that articulates. A free end of the rotor portion 81is provided with an articulating connection 87 with an array ofapertures 89 therein. Likewise, a free end of the rotor portion 82 isprovided with an articulating connection 88 with an array of apertures90 therein. As is often the case, due to manufacturing techniques of therotor 80, it is often the case that the apertures 89, 90 in the endmostarticulated connections 87, 88 are not aligned with each other anddiffer from part to part, but as will become apparent, the presentinvention addresses and solves this issue when loading the rotor 80 intothe machine 100.

The parts 87, 88 might typically be CV (constant velocity) joints,flanged joints, open universal joints, serrated flange joints, splinedinterface joints, rubber couplings, DOJs, slip yokes. In each case thereis a location diameter or Pitch diameter that is located and held by achuck (described later) so that balancing can be performed.

It should be appreciated that whilst in the present embodiment theapparatus 10 is configured for a three piece rotor, embodiments areenvisaged which are suitable for two piece, one piece or where there aregreater than three rotor portions. In such embodiments either theapparatus is specifically configured for such rotors, or is adjustableso as to cater for rotors with different numbers of rotor portions.

Referring particularly to FIGS. 5 to 8, the apparatus 10 is fortransporting the rotor 80 from a first location (e.g. where the rotor isstored) to a second location at which the balancing machine is located.The apparatus 10 includes a plurality (three in this example althoughthere could be fewer or more) holding devices 23 a, 23 b, 23 c forengaging with the rotor portions 81, 82, 83 at the first location so asto grasp and hold the rotor 80 relative to the apparatus 10. In thisexample, each holding device 23 a, 23 b, 23 c includes a pair ofpivotally moveable engaging members 27 a, 27 b which are moveabletowards and away from each other so as to hold the rotor portion 81, 82,83 therebetween. As an alternative, one of the members 27 a may befixed, with the other member 27 b moveable towards and away therefrom.The members 27 a, 27 b are operated by a pneumatic actuator, although ahydraulic or electro-mechanical actuator could be used.

Referring particularly to FIG. 7, the apparatus 10 includes a plurality(four in this example although there could be fewer or more) ofpositioning devices 22 a, 22 b, 22 c, 22 d for engaging with thearticulated parts 85, 86, 87, 88 of the rotor 80. The function of thepositioning devices 22 a, 22 b, 22 c, 22 d is to position or repositionthe articulated parts 85, 86, 87, 88 relative to an elongate axis of therotor 80 so that they are substantially perpendicular thereto. In otherwords, the positioning devices 22 a, 22 b, 22 c, 22 d position orreposition the articulated parts 85, 86, 87, 88 so that they each lie inplanes which are parallel to each other and perpendicular orsubstantially perpendicular to the elongate axis of the rotor 80. Thepositioning devices 22 a, 22 b, 22 c, 22 d are axially moveable in orderto achieve this, which means that they can also account for any plungein the parts 85, 86, 87, 88. In other words, the positioning devices canalso be used to ensure that the articulated parts 85, 86, 87, 88 arespaced axially from each other at the required distance in order to beloaded into the balancing machine 100.

In more detail, each positioning device 85, 86, 87, 88 has a downwardlyextending part which extends over the rotor substantiallyperpendicularly thereto. The part has an opening/recess 31 which opensdownwardly and into which the rotor is received. Essentially, the partis n-shaped at its free end (so as to straddle the rotor). The axialposition of each of the positioning devices 22 a, 22 b, 22 c, 22 d iscontrolled by a pneumatic actuator, with appropriate location feedbackto a controller, as required, although a hydraulic or electro-mechanicalactuator could be used. The actuator moves the positioning device 22 a,22 b, 22 c, 22 d along a rail, or similar member, which extends parallelwith the elongate rotor axis.

Whilst in the present embodiment the positioning devices 22 a, 22 b, 22c, 22 d are configured for axially positioning or repositioning thecomponent part of the rotor relative to another component part of therotor or another body (e.g. a component part of a balancing machine or amain body of the apparatus), embodiments are envisaged where the same oradditional positioning devices are configured for angularly positioningor repositioning a component of the rotor relative to another componentpart of the rotor or another body. In other words, the or a positioningdevice(s) may be capable of rotating a component part relative toanother component part of the rotor or another body. They may, forexample, be capable of rotating one or more articulated parts of therotor or one or more elongate rotor portions of the rotor. Embodimentsare envisaged where one or more of the holding devices 23 a, 23 b, 23 cinclude means for rotating the rotor part which it holds, and/or meansfor axially displacing the rotor part it holds.

The apparatus 10 also includes two position determination devices 51, 52(see FIG. 9). In short, the devices 51, 52 are for determining theposition of at least one component part of the rotor relative to anothercomponent part of the rotor or another body. In this particularembodiment, each positioning device 51, 52 is for determining theposition of the array of apertures 89, 90 in the endmost articulatedparts 87, 88. In the present example, the devices 51, 52 are digitalcameras, with suitable software, which can determine the angularposition of each aperture 89, 90. A signal(s) representative of the saidpositions are either stored in a memory on the apparatus and/or sent toa central controller (the reason for which will become apparent later).Whilst in the present example there are two cameras 51, 52 (each for arespective end of the rotor 80), there could be one camera which ismoveable (or the rotor end could be moved to a camera) to assess bothends of the rotor 80, or more than two cameras.

A method of loading the rotor 80 into the balancing machine 100 will nowbe described. The method includes the initial step of collecting therotor 80 from a first location, which is remote from the balancingmachine 100 (by remote we mean that the rotor is not already located onor in the balancing machine, but is positioned elsewhere—the rotor neednot be positioned far from the machine). The rotor 80 may be supportedon a surface or other suitable support(s) (e.g. a plurality of V-shapedsupport members, which would mean that the rotor portions 81, 82, 83where closely coaxially aligned). The robotic arm then moves the mainbody 20 so that it is positioned directly above the rotor 80 (it couldposition the rotor laterally to one side of the machine). At this point,or before, the members 27 a, 27 b of each holding device 23 a, 23 b, 23c are moved away from each other so that they can be lowered over therotor 80. The positioning devices 22 a, 22 b, 22 c, 22 d are also movedto desired axial positions which ensure that they will not foul thearticulated pats 85, 86, 87, 88.

The robotic arm then lowers the main body until the rotor portions 81,82, 83 are received in between the members 27 a, 27 b of each holdingdevice 23 a, 23 b, 23 c. The members 27 a, 27 b of each holding device23 a, 23 b, 23 c are then moved towards each other until they engage andsufficiently grasp the rotor portions 81, 82, 83 (the holding devices 23a, 23 b, 23 c may include force feedback sensors to ensure the part isclamped and/or also to ensure that the members 27 a, 27 b do not applytoo much force to the rotor portions 81, 82, 83).

In this particular example, the robotic arm then raises the main body 20and the rotor 80 from the surface or support. Prior to this or at thesame time the positioning devices 22 a, 22 b, 22 c, 22 d are moved todesired axial positions so as to engage the articulated parts 85, 86,87, 88 and hold those parts in the desired axial positions relative toeach other. The positioning devices 22 a, 22 b, 22 c, 22 d also hold thearticulated parts 85, 86, 87, 88 perpendicular with the elongate axis ofthe rotor 80. This ensures that the parts 85, 86, 87, 88 can easily beengaged with the chucks 110, 120 and intermediate supports 130, 140 ofthe balancing machine 100.

Prior to or at the same time as the rotor 80 is being moved towards thebalancing machine 100 (or indeed before loading of articulated endmostparts 87, 88 in to the chucks 110,120) the cameras 51, 52 determine theposition of the array of apertures 89, 90 in the endmost articulatedparts 87, 88. Details of said aperture positions are then transmitted tothe balancing machine 100, which rotates its chucks 110, 120 so thatprojections 91, 92 thereon are rotationally aligned with the apertures89, 90 (when the rotor is eventually loaded). The angular position ofeach chuck 110, 120 is always known as the spindles which drive themhave encoders that are connected to the balance machine's electroniccontrol system.

The rotor 80 is then lowered into the balancing machine 100 (see FIGS. 1and 2). The chucks 110, 120 are then moved axially towards each otheruntil they engage and then grasp the ends of the rotor 80 (see FIG. 3),and the intermediate supports are caused to grasp or support thearticulated parts 85, 86. The members 27 a, 27 b of the holding devices23 a, 23 b, 23 c are then moved away from each other so as to releasethe rotor portions 81, 82, 83. At the same time, before, or shortlyafter, the positioning devices 22 a, 22 b, 22 c, 22 d are moved slightlyaway from the parts of the rotor 80 with which they were engaged. Therobotic arm then raises the main body away from the balancing machine100 (see FIG. 4), where it is then moved back to the first location tocollect another rotor for balancing.

The balancing machine 100 is then use to balance the rotor 80 as is wellknown in the art.

As an alternative, instead of the balancing machine 100 receivingsignals from both cameras 51, 52 and then rotating the chucks 110, 120accordingly, the balancing machine 100 may rotate the chuck 110 so as toalign its projections 91 with the apertures 89 of the part 97. The rotor80 may then be loaded into the machine 100 and the chuck 110 movedaxially towards the part 87 until it is fully engaged therewith. Thechuck 110 may then effect rotation of the rotor 80 until the apertures90 of the part 88 are aligned with the projections 92 of the secondchuck 120. The second chuck 120 may then be moved axially towards thepart 88 (or the chuck 110 and rotor 80 may be moved axially towards thechuck 120) until it is fully engaged therewith. Once this has beenachieved, the holding devices 23 a, 23 b, 23 d and positioning devices22 a, 22 b, 22 c, 22 d release the rotor 80 and the main body 20 ismoved away from the balancing machine to allow the balancing process totake place. As will be appreciated, in order to permit such a system tooperate, the holding devices 23 a, 23 b, 23 c must be configured forpermitting the rotor portions 81, 82, 83 to rotate where required. As afurther alternative, the rotor may first be engaged with a fixed chuck,and the rototate by that chuck, and then other chuck moved intoengagement with the other endmost part of the rotor (i.e. the rotor isnot moved axially).

As a further alternative, the rotor 80 may be rotated not by the chuck110, but by a suitable mechanism on the apparatus 10. For example, oneor more of the holding devices 23 a, 23 b, 23 c may be configured forrotating the rotor the desired amount so as to align the apertures 90 ofthe part 88 with the projections 92 of the chuck 120.

When used in this specification and claims, the terms “comprises” and“comprising” and variations thereof mean that the specified features,steps or integers are included. The terms are not to be interpreted toexclude the presence of other features, steps or components.

The features disclosed in the foregoing description, or the followingclaims, or the accompanying drawings, expressed in their specific formsor in terms of a means for performing the disclosed function, or amethod or process for attaining the disclosed result, as appropriate,may, separately, or in any combination of such features, be utilised forrealising the invention in diverse forms thereof.

1. An apparatus capable of transporting an elongate rotor from a firstlocation to a second location, the apparatus comprising: a holdingdevice capable of engaging with a portion of the rotor at the firstlocation so as to hold the rotor relative to the apparatus; a positiondetermination device capable of determining the position of at least onecomponent part of the rotor relative to another component part of therotor or another body; a positioning device capable of positioning orrepositioning said at least one component part of the rotor relative toanother component part of the rotor or another body; and a movementdevice capable of moving the rotor from the first location to the secondlocation.
 2. The apparatus according to claim 1 comprising two or moreof said positioning devices, each capable of positioning orrepositioning a respective component part of the rotor relative toanother component part of the rotor or another body.
 3. The apparatusaccording to claim 1 wherein said positioning device(s) is capable ofangularly positioning or repositioning a component of the rotor relativeto another component part of the rotor or another body.
 4. The apparatusaccording to claim 3 wherein said positioning device is capable ofrotating a component part relative to another component part of therotor or another body.
 5. The apparatus according to claim 1 whereinsaid positioning device(s) is capable of: axially positioning orrepositioning a component part of the rotor relative to anothercomponent part of the rotor or another body; and/or positioning orrepositioning a component part of the rotor such that it lies in a planeperpendicular or substantially perpendicular to an elongate axis of therotor.
 6. The apparatus according to claim 5 where said positioningdevice is capable of axially displacing a component part relative toanother component part of the rotor or another body.
 7. The apparatusaccording to claim 1 wherein the apparatus comprises: at least onepositioning device capable of angularly positioning or repositioning acomponent of the rotor relative to another component part of the rotoror another body, and at least one alignment device capable of: axiallypositioning or repositioning a component part of the rotor relative toanother component part of the rotor or another body; and/or positioningor repositioning a component part of the rotor such that it lies in aplane perpendicular or substantially perpendicular to an elongate axisof the rotor.
 8. The apparatus according to claim 1 wherein one of thepositioning devices is capable of positioning or repositioning anendmost articulated part of the rotor relative to another component partof the rotor or another body.
 9. The apparatus according to claim 1wherein one of the positioning devices is capable of positioning orrepositioning an elongate part of the rotor relative to anothercomponent part of the rotor or another body.
 10. The apparatus accordingto claim 1 including a plurality of positioning devices and/or aplurality of position determination devices and/or a plurality ofholding devices.
 11. The apparatus according to claim 10 wherein one ormore of the holding device(s) are capable of axially positioning acomponent part of the rotor relative to another component part of therotor or another body.
 12. The apparatus according to claim 10 whereinone or more of the holding device(s) are capable of angularlypositioning a component part of the rotor relative to another componentpart of the rotor or another body.
 13. The apparatus according to claim10 wherein each holding device includes a pair of engaging members thatare moveable towards and away from each other so as to hold the rotortherebetween.
 14. The apparatus according to claim 1 wherein eachpositioning device includes an opening or recess to receive a portion ofthe rotor wherein opening or recess preferably opens downwardly innormal use.
 15. The apparatus according to claim 1 wherein thepositioning device(s) and/or the holding device(s) is/are pneumatically,hydraulically or electro-mechanically operated.
 16. The apparatusaccording to claim 1 wherein another component part of the rotor is agenerally elongate part thereof preferably an articulated part of therotor.
 17. The apparatus according to claim 1 wherein another componentpart of the rotor is an endmost, or articulated endmost, part of therotor.
 18. The apparatus according to claim 1 wherein another componentpart of the rotor is an intermediate, or intermediate articulated, partof the rotor.
 19. The apparatus according to claim 1 wherein anotherbody is a component part of a balancing machine or a main body of theapparatus.
 20. A method of loading an elongate rotor into a balancingmachine, the method comprising: obtaining a balancing machinecomprising: first and second mounting apparatus each capable of engagingwith and holding respective ends of the rotor; and means for driving oneor both the first and second mounting apparatus, collecting a rotor froma first location using a transporting apparatus, the transportingapparatus including a holding device capable of engaging with a portionof the rotor so as to hold the rotor relative to the transportingapparatus; determining the position of at least one component part ofthe rotor relative to another component part of the rotor or anotherbody; loading the rotor into the balancing machine; and engaging thefirst and second mounting apparatus of the balancing machine withrespective end of the rotor, wherein, prior to or at the same time asthe step of loading the rotor into the balancing machine, the methodincludes one or both of the steps of: positioning or repositioning saidat least one component part of the rotor relative to the anothercomponent part of the rotor or the another body; and/or positioning orrepositioning one of the first and second mounting apparatus of thebalancing machine at a desired position which corresponds to theposition of the at least one component part of the rotor.
 21. The methodaccording to claim 20 comprising the steps of: determining the positionof two component parts of the rotor relative to one or more othercomponent part of the rotor or another body(ies); and wherein, prior toor at the same time as the step of loading the rotor into the balancingmachine, the method includes one or both of the steps of: positioning orrepositioning said two component parts of the rotor relative to theirrespective other component part of the rotor or their respective anotherbody(ies); and/or positioning or repositioning both the first and secondmounting apparatus of the balancing machine at desired positions whichcorresponds to the position of the two component parts of the rotor. 22.The method according to claim 20 wherein the component part of the rotoris an endmost part thereof.
 23. The method according to claim 20 whereinthe method comprises the steps of: determining the position of a firstendmost part of the rotor; determining the position of a second,opposite, endmost part of the rotor; positioning or repositioning thefirst mounting apparatus of the balancing machine at a desired positionwhich corresponds to the position of the first endmost part of therotor; positioning or repositioning the second mounting apparatus of thebalancing machine at a desired position which corresponds to theposition of the second endmost part of the rotor; loading the rotor intothe balancing machine; and engaging the first and second mountingapparatus of the balancing machine with respective endmost parts of therotor.
 24. The method according to claim 23 wherein the method comprisesthe steps of: determining the position of a first endmost part of therotor; determining the position of a second, opposite, endmost part ofthe rotor; positioning or repositioning the first mounting apparatus ofthe balancing machine at a desired position which corresponds to theposition of the first endmost part of the rotor; loading the rotor intothe balancing machine; engaging the first mounting apparatus of thebalancing machine with the first endmost part of the rotor; rotating therotor until the second endmost part of aligned with the second mountingapparatus; and engaging the second mounting apparatus of the balancingmachine with second endmost part of the rotor.
 25. The method accordingto claim 24 wherein the rotor is rotated by a positioning device orholding device on the transporting apparatus.
 26. The method accordingto claim 25 wherein the rotor is rotated by driving the first mountingapparatus.
 27. The method according to claim 20 wherein the positioningof the first and second mounting apparatus is angular positioning. 28.The method according to claim 20 wherein the position determined is theangular and/or axial position of the first and second endmost parts ofthe rotor.
 29. An apparatus capable of transporting an articulatedelongate rotor from a first location to a second location, the rotorincluding at least two rotor portions connected to each other, theapparatus comprising: two holding devices each capable of engaging withone of the rotor portions at the first location; a positiondetermination device capable of determining the position of at least onecomponent part of the rotor relative to another component part of therotor or another body; a positioning device capable of positioning orrepositioning said at least one component part of the rotor relative toanother component part of the rotor or another body; and a movementdevice capable of moving the articulated rotor from the first locationto the second location.